Who among us would admit, "yes, I am a bad driver, I need this more expensive thing to take control in the event of an accident"? Very few is my guess. In 2019, people use these for convenience, not because they think the system is a better driver. I bet that's true even for Waymo's taxis.
As for getting drunk drivers to use self-driving, that's as easy as asking them to either stop drinking or not drive. Then there is the cost. I wouldn't be surprised if the unemployed drink and drive more often.